Mechanical manipulators are modeled by a set of coupled nonlinear second order differential equations. If a complete model is available, model-based controllers can decouple and linearize the manipulator dynamics. However, since there is a degree of uncertainty in the manipulator model, a model-based control scheme which is robust against modeling error and disturbance is required. This paper proposes a robust control scheme based on H∞ control theory. The controller consists of a model-based controller followed by a H∞ controller. Given a nominal model of the manipulator dynamics, the model-based controller approximately linearizes the manipulator dynamics. The H∞ controller compensates for disturbances and unmodeled dynamics. Experiments on two link direct drive manipulator exhibit the effectiveness of the proposed H∞ model-based robust control scheme.
|出版ステータス||Published - 1992|
|イベント||Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA|
継続期間: 1992 7月 13 → 1992 7月 15
|Other||Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2)|
|City||San Francisco, CA, USA|
|Period||92/7/13 → 92/7/15|
ASJC Scopus subject areas